Tested under ROS Indigo + Ubuntu 14.04 (but previous versions of both should be ok).
How to install:
- clone the repository in your catkin_ws/src
- run: catkin_make
Usage: rosrun thin_scan_matcher thin_scan_matcher_node
_frame_skip:=#n (take a laser scan every #n)
_bpr:=#p (#p value should be between 0 and 1 and represents the limit percentage of points which are not correctly transformed for keeping the local map generated)